SPURS2 Aug16 * SG190 * Dive index * Mission links * Dive 334 * Raw log
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• Previous call tries 1 • 133.63 of 350.00 AH used of 24V (61.82% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.9 deg, depth 0.94 m • Intended pitch -15.8 deg, speed -7.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 38 s
• GPS2 time: 16 s • Transponder ping count: 7
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
18 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 108 VBD -0.68 - - 193 - - - 2315 - -116.8 -85.03 - 2947 - - - - - - - - 14.67 - 14.69
112 5.6 -8.0 3 136 roll -0.68 9.38 0.428 1961 188.5 2.75 2.062 3677 495.3 -116.8 -4.60 - 3220 -59.3 - - - - - - - 13.95 13.13 14.41
171 29.8 -31.7 12 176 done -0.43 0.38 0.244 2057 252.6 2.40 0.043 2258 -591.2 -116.8 - - 3222 - - - - - - - - 14.15 14.45 14.40
501 73.2 -9.8 26 505 roll -0.38 - - 2057 - 2.40 0.051 871 -577.9 -116.8 - - 3222 - - - - - - - - 14.80 14.46 14.82
591 80.5 -8.5 39 596 done -0.38 - - 2056 - 2.42 0.057 2256 572.3 -116.8 - - 3222 - - - - - - - - 14.57 14.47 14.61
920 104.1 -6.9 52 925 roll -0.38 - - 2056 - 2.40 0.049 876 -575.0 -116.8 - - 3224 - - - - - - - - 14.87 14.51 14.88
1003 109.9 -6.9 64 1009 done -0.38 - - 2055 - 2.45 0.056 2274 570.6 -116.8 - - 3225 - - - - - - - - 14.62 14.48 14.63
1370 134.5 -6.8 74 1375 roll -0.38 - - 2056 - 2.53 0.082 3694 561.3 -116.8 - - 3221 - - - - - - - - 14.88 14.45 14.90
1515 143.6 -6.0 95 1520 done -0.38 - - 2056 - 2.38 0.043 2264 -600.8 -116.8 - - 3223 - - - - - - - - 14.66 14.61 14.69
1873 168.1 -7.2 104 1878 roll -0.38 - - 2056 - 2.38 0.053 893 -576.1 -116.8 - - 3220 - - - - - - - - 14.92 14.53 14.94
1962 174.9 -7.4 117 1969 done -0.38 - - 2056 - 2.47 0.057 2282 562.3 -116.8 - - 3219 - - - - - - - - 14.64 14.46 14.67
2320 201.5 -7.6 126 2325 roll -0.38 - - 2054 - 2.50 0.081 3695 565.2 -116.8 - - 3218 - - - - - - - - 14.92 14.45 14.93
2348 203.6 -7.4 130 2353 done -0.38 - - 2054 - 2.40 0.044 2272 -592.9 -116.8 - - 3218 - - - - - - - - 14.62 14.57 14.64
2712 231.4 -7.5 140 2717 roll -0.38 - - 2054 - 2.40 0.055 893 -574.6 -116.8 - - 3216 - - - - - - - - 14.93 14.50 14.95
2768 235.5 -7.2 148 2773 done -0.38 - - 2054 - 2.45 0.058 2280 566.1 -116.8 - - 3216 - - - - - - - - 14.54 14.43 14.58
3105 258.6 -7.0 161 3106 done -0.38 - - 2054 - - - 2280 - -116.8 - - 3214 - - - - - - - - 14.91 14.93 14.92
3440 281.8 -6.8 167 3445 roll -0.38 - - 2048 - 2.53 0.083 3690 557.3 -116.8 - - 3212 - - - - - - - - 14.92 14.42 14.94
3467 283.7 -6.7 171 3473 done -0.38 - - 2047 - 2.38 0.046 2283 -591.2 -116.8 - - 3213 - - - - - - - - 14.64 14.57 14.67
3833 308.5 -6.8 181 3839 roll -0.38 - - 2048 - 2.45 0.057 873 -575.5 -116.8 - - 3210 - - - - - - - - 14.91 14.48 14.92
3922 315.0 -6.9 194 3928 done -0.38 0.12 0.239 2074 216.7 2.47 0.058 2274 567.2 -116.8 - - 3210 - - - - - - - - 14.24 14.46 14.47
4281 334.5 -5.5 203 4285 roll -0.45 - - 2068 - 2.55 0.086 3700 559.2 -116.8 - - 3207 - - - - - - - - 14.91 14.39 14.93
4316 336.5 -5.8 208 4321 done -0.53 0.12 0.132 2012 -466.7 2.42 0.049 2261 -594.6 -116.8 - - 3206 - - - - - - - - 14.51 14.57 14.61
4672 367.0 -8.7 217 4678 roll -0.53 - - 2011 - 2.40 0.055 879 -575.8 -116.8 - - 3206 - - - - - - - - 14.94 14.46 14.95
4728 372.3 -9.4 225 4734 done -0.53 - - 2012 - 2.50 0.062 2277 559.2 -116.8 - - 3205 - - - - - - - - 14.50 14.38 14.54
5065 403.4 -9.2 238 5070 roll -0.53 - - 2010 - 2.53 0.087 3688 557.7 -116.8 - - 3204 - - - - - - - - 14.92 14.39 14.92
5099 406.7 -9.7 243 5104 done -0.53 - - 2010 - 2.40 0.046 2263 -593.8 -116.8 - - 3204 - - - - - - - - 14.64 14.57 14.66
5456 440.6 -9.6 252 5461 roll -0.53 - - 2010 - 2.38 0.054 889 -577.3 -116.8 - - 3201 - - - - - - - - 14.91 14.44 14.93
5569 451.1 -9.3 268 5574 done -0.53 - - 2009 - 2.47 0.061 2271 559.5 -116.8 - - 3201 - - - - - - - - 14.54 14.42 14.58
5904 480.4 -8.6 281 5910 roll -0.53 - - 2005 - 2.55 0.087 3695 558.4 -116.8 - - 3201 - - - - - - - - 14.90 14.35 14.92
5931 482.8 -8.5 285 5938 done -0.53 - - 2004 - 2.45 0.047 2270 -581.6 -116.8 - - 3199 - - - - - - - - 14.50 14.47 14.61
6297 512.9 -8.2 295 6302 roll -0.53 - - 2004 - 2.42 0.058 891 -569.8 -116.8 - - 3197 - - - - - - - - 14.89 14.42 14.92
6372 519.3 -8.2 306 6378 done -0.53 - - 1999 - 2.47 0.060 2280 562.3 -116.8 - - 3197 - - - - - - - - 14.53 14.40 14.57
6689 546.2 -8.7 316 6694 roll -0.53 - - 1997 - 2.53 0.088 3689 556.9 -116.8 - - 3197 - - - - - - - - 14.90 14.33 14.92
6722 549.3 -9.0 321 6729 done -0.53 0.08 0.223 2027 375.0 2.45 0.047 2263 -582.0 -116.8 - - 3196 - - - - - - - - 14.11 14.46 14.38
7081 576.6 -7.7 330 7085 roll -0.53 - - 2027 - 2.40 0.056 882 -575.4 -116.8 - - 3195 - - - - - - - - 14.90 14.40 14.92
7143 581.6 -7.7 339 7148 done -0.53 - - 2026 - 2.47 0.062 2265 559.9 -116.8 - - 3195 - - - - - - - - 14.52 14.40 14.56
7473 605.6 -7.3 351 7478 roll -0.53 - - 2026 - 2.55 0.086 3688 558.0 -116.8 - - 3194 - - - - - - - - 14.89 14.32 14.90
7534 610.2 -7.4 360 7540 done -0.53 - - 2021 - 2.45 0.047 2266 -580.4 -116.8 - - 3193 - - - - - - - - 14.48 14.45 14.59
7865 634.1 -7.2 372 7870 roll -0.53 - - 2021 - 2.45 0.059 882 -564.9 -116.8 - - 3192 - - - - - - - - 14.88 14.38 14.90
7926 638.8 -7.3 381 7933 done -0.53 - - 2015 - 2.53 0.063 2282 553.4 -116.8 - - 3192 - - - - - - - - 14.47 14.33 14.51
8257 663.0 -7.4 393 8262 roll -0.53 - - 2011 - 2.55 0.086 3691 552.5 -116.8 - - 3193 - - - - - - - - 14.89 14.28 14.90
8284 665.1 -7.6 397 8290 done -0.53 - - 2011 - 2.42 0.049 2270 -587.2 -116.8 - - 3191 - - - - - - - - 14.58 14.51 14.61
8648 692.8 -7.5 407 8653 roll -0.53 - - 2012 - 2.45 0.059 886 -564.9 -116.8 - - 3190 - - - - - - - - 14.89 14.28 14.90
8731 699.3 -7.6 419 8737 done -0.53 - - 2011 - 2.53 0.063 2286 553.4 -116.8 - - 3189 - - - - - - - - 14.46 14.32 14.52
9097 726.7 -7.6 429 9102 roll -0.53 - - 2010 - 2.55 0.088 3694 552.2 -116.8 - - 3187 - - - - - - - - 14.90 14.26 14.92
9138 730.0 -8.4 435 9143 done -0.53 - - 2010 - 2.45 0.049 2264 -583.7 -116.8 - - 3187 - - - - - - - - 14.54 14.47 14.57
9488 757.8 -7.9 443 9493 roll -0.53 - - 2010 - 2.45 0.060 881 -564.5 -116.8 - - 3187 - - - - - - - - 14.90 14.26 14.92
9585 765.9 -8.3 457 9592 done -0.53 - - 2010 - 2.55 0.064 2262 541.6 -116.8 - - 3186 - - - - - - - - 14.32 14.24 14.38
9936 793.0 -7.7 465 9937 done -0.53 - - 2008 - - - 2262 - -116.8 - - 3185 - - - - - - - - 14.88 14.90 14.90
10272 818.1 -7.4 471 10277 roll -0.53 - - 2004 - 2.60 0.089 3697 551.9 -116.8 - - 3185 - - - - - - - - 14.88 14.22 14.89
10329 821.9 -7.3 479 10334 done -0.53 - - 2004 - 2.47 0.050 2263 -580.6 -116.8 - - 3188 - - - - - - - - 14.50 14.42 14.52
10664 845.6 -7.0 492 10669 roll -0.53 - - 2004 - 2.47 0.059 879 -560.3 -116.8 - - 3184 - - - - - - - - 14.90 14.28 14.91
10741 851.1 -7.1 503 10746 done -0.53 - - 2002 - 2.53 0.064 2262 546.6 -116.8 - - 3183 - - - - - - - - 14.42 14.28 14.46
11058 872.7 -6.7 513 11063 roll -0.53 - - 1999 - 2.62 0.090 3694 546.6 -116.8 - - 3182 - - - - - - - - 14.85 14.20 14.87
11091 875.1 -6.1 518 11096 done -0.53 - - 1999 - 2.53 0.050 2260 -566.8 -116.8 - - 3182 - - - - - - - - 14.41 14.35 14.42
11449 901.0 -7.4 527 11453 roll -0.53 - - 1998 - 2.45 0.060 882 -562.4 -116.8 - - 3181 - - - - - - - - 14.85 14.26 14.87
11546 908.6 -7.6 541 11552 done -0.53 - - 1999 - 2.53 0.065 2262 545.5 -116.8 - - 3181 - - - - - - - - 14.40 14.27 14.45
11896 934.5 -7.4 549 11902 roll -0.53 - - 1999 - 2.62 0.090 3691 545.4 -116.8 - - 3180 - - - - - - - - 14.85 14.18 14.87
11931 937.0 -6.7 554 11936 done -0.53 - - 2001 - 2.50 0.050 2249 -576.8 -116.8 - - 3180 - - - - - - - - 14.48 14.40 14.50
12290 962.7 -7.1 563 12294 roll -0.53 - - 1999 - 2.45 0.063 892 -553.9 -116.8 - - 3179 - - - - - - - - 14.83 14.26 14.85
12372 969.5 -9.2 575 12377 done -0.53 - - 1999 - 2.53 0.063 2277 547.4 -116.8 - - 3179 - - - - - - - - 14.38 14.22 14.43
12677 end dive: TARGET_DEPTH_EXCEEDED
12677 begin apogee
12686 990.0 -6.9 584 12841 roll -0.19 0.50 0.218 2132 266.0 - - 2182 - - 147.20 2.553 2740 -3.0 0.228 - - - - 1 - 13.93 13.65 12.46
12842 end apogee: CONTROL_FINISHED_OK
12842 begin climb
12846 993.5 - 586 13017 roll 0.68 0.95 0.149 2411 293.7 2.65 0.059 780 -529.1 116.8 157.73 1.935 2253 -3.1 0.312 - - - - - - 13.64 13.72 12.69
13125 974.7 9.3 633 13132 done 0.68 - - 2411 - 2.60 0.062 2175 536.5 116.8 - - 2242 - - - - - - - - 14.08 13.98 14.11
13465 939.6 10.4 640 13470 roll 0.63 - - 2421 - 2.55 0.071 786 -544.7 116.8 - - 2238 - - - - - - - - 14.69 14.34 14.70
13598 926.0 10.1 659 13603 done 0.63 - - 2421 - 2.55 0.064 2192 551.4 116.8 - - 2237 - - - - - - - - 14.50 14.40 14.54
13913 891.5 11.0 669 13919 roll 0.56 0.12 0.283 2385 -300.0 2.55 0.088 3601 552.5 116.8 - - 2236 - - - - - - - - 14.15 14.38 14.31
13997 882.6 10.3 681 14003 done 0.56 - - 2394 - 2.45 0.058 2202 -571.0 116.8 - - 2234 - - - - - - - - 14.57 14.45 14.59
14361 847.9 9.6 691 14366 roll 0.56 - - 2405 - 2.60 0.076 774 -549.2 116.8 - - 2234 - - - - - - - - 14.81 14.38 14.83
14402 844.0 10.9 697 14409 done 0.56 - - 2405 - 2.55 0.063 2186 553.7 116.8 - - 2232 - - - - - - - - 14.54 14.42 14.58
14754 812.0 9.0 705 14759 roll 0.56 - - 2405 - 2.58 0.090 3601 548.4 116.8 - - 2232 - - - - - - - - 14.85 14.35 14.84
14866 800.9 9.6 721 14872 done 0.49 0.22 0.258 2362 -195.5 2.50 0.058 2189 -564.8 116.8 - - 2232 - - - - - - - - 14.05 14.44 14.40
15201 779.0 6.5 734 15228 roll 0.51 - - 2372 - 2.60 0.073 768 -546.5 137.0 18.85 1.780 2177 -2.9 0.251 - - - - - - 14.83 14.48 13.63
15250 776.2 6.3 741 15290 done 0.52 - - 2372 - 2.60 0.062 2199 550.4 161.6 33.47 1.772 2076 -3.0 0.260 - - - - - - 14.52 14.42 13.45
15649 746.5 7.6 756 15654 roll 0.52 - - 2372 - 2.55 0.090 3594 547.1 161.6 - - 2058 - - - - - - - - 14.73 14.32 14.75
15719 740.5 8.7 766 15724 done 0.52 - - 2381 - 2.47 0.060 2190 -568.4 161.6 - - 2057 - - - - - - - - 14.50 14.41 14.54
16041 714.1 8.2 777 16047 roll 0.52 - - 2391 - 2.58 0.072 763 -553.1 161.6 - - 2056 - - - - - - - - 14.78 14.37 14.80
16097 709.6 7.9 785 16103 done 0.52 - - 2391 - 2.60 0.062 2197 551.5 161.6 - - 2056 - - - - - - - - 14.51 14.40 14.56
16433 680.8 8.7 798 16438 roll 0.52 - - 2391 - 2.55 0.089 3596 548.6 161.6 - - 2055 - - - - - - - - 14.81 14.34 14.83
16537 670.8 9.4 813 16545 done 0.52 0.10 0.219 2372 -190.0 2.50 0.057 2194 -560.8 161.6 - - 2055 - - - - - - - - 14.09 14.37 14.25
16881 644.6 7.6 820 16886 roll 0.52 - - 2383 - 2.58 0.074 772 -551.2 161.6 - - 2055 - - - - - - - - 14.83 14.35 14.84
16938 640.5 7.5 828 16943 done 0.57 - - 2382 - 2.58 0.060 2205 555.4 161.6 - - 2053 - - - - - - - - 14.52 14.40 14.57
17273 615.3 7.4 841 17279 roll 0.57 - - 2382 - 2.53 0.089 3593 548.6 161.6 - - 2054 - - - - - - - - 14.83 14.31 14.85
17336 610.3 7.9 850 17341 done 0.57 - - 2392 - 2.45 0.057 2191 -572.2 161.6 - - 2053 - - - - - - - - 14.53 14.42 14.57
17665 585.9 7.4 862 17670 roll 0.57 - - 2401 - 2.55 0.071 770 -557.3 161.6 - - 2053 - - - - - - - - 14.83 14.34 14.85
17706 582.8 7.4 868 17712 done 0.57 - - 2401 - 2.58 0.059 2207 557.0 161.6 - - 2053 - - - - - - - - 14.50 14.38 14.55
18058 553.5 8.5 876 18063 roll 0.57 - - 2401 - 2.50 0.088 3586 551.6 161.6 - - 2053 - - - - - - - - 14.83 14.28 14.85
18154 543.8 9.7 890 18160 done 0.57 - - 2410 - 2.45 0.053 2199 -566.1 161.6 - - 2053 - - - - - - - - 14.40 14.33 14.55
18505 511.3 9.4 898 18506 done 0.57 - - 2410 - - - 2199 - 161.6 - - 2052 - - - - - - - - 14.83 14.85 14.85
18842 480.1 9.2 904 18847 roll 0.57 - - 2419 - 2.60 0.072 768 -550.4 161.6 - - 2053 - - - - - - - - 14.83 14.29 14.84
18868 477.6 9.0 908 18874 done 0.57 0.15 0.246 2385 -226.7 2.60 0.060 2212 555.4 161.6 - - 2053 - - - - - - - - 14.05 14.34 14.35
19233 449.2 7.8 918 19238 roll 0.57 - - 2384 - 2.50 0.086 3588 550.4 161.6 - - 2053 - - - - - - - - 14.85 14.26 14.88
19338 440.1 8.6 933 19345 done 0.57 - - 2392 - 2.42 0.052 2209 -569.8 161.6 - - 2052 - - - - - - - - 14.48 14.38 14.52
19681 412.2 8.0 940 19686 roll 0.57 - - 2398 - 2.60 0.068 767 -554.6 161.6 - - 2053 - - - - - - - - 14.83 14.28 14.84
19737 407.8 7.7 948 19742 done 0.57 - - 2402 - 2.62 0.059 2214 552.3 161.6 - - 2052 - - - - - - - - 14.45 14.33 14.50
20074 381.0 7.9 961 20079 roll 0.57 - - 2402 - 2.47 0.084 3586 555.5 161.6 - - 2052 - - - - - - - - 14.85 14.26 14.87
20170 372.5 8.5 975 20176 done 0.57 - - 2411 - 2.45 0.051 2206 -563.3 161.6 - - 2052 - - - - - - - - 14.35 14.30 14.40
20521 344.8 8.0 983 20526 roll 0.57 - - 2420 - 2.60 0.070 775 -550.4 161.6 - - 2050 - - - - - - - - 14.85 14.27 14.87
20556 341.9 8.0 988 20561 done 0.57 0.15 0.237 2383 -246.7 2.60 0.058 2221 556.2 161.6 - - 2052 - - - - - - - - 14.04 14.33 14.33
20913 317.2 6.9 997 20920 roll 0.57 - - 2384 - 2.55 0.086 3588 536.1 171.0 1.73 0.186 2041 -6.4 2.135 - - - - - - 14.85 14.28 14.10
20975 312.2 8.1 1006 20981 done 0.57 - - 2393 - 2.42 0.051 2214 -567.8 171.0 - - 2044 - - - - - - - - 14.35 14.31 14.48
21306 288.1 7.3 1018 21311 roll 0.57 - - 2401 - 2.58 0.068 777 -557.0 171.1 - - 2046 - - - - - - - - 14.82 14.29 14.83
21361 284.0 7.2 1026 21368 done 0.58 - - 2401 - 2.60 0.057 2222 555.8 173.5 2.95 0.750 2031 -5.1 0.379 - - - - - - 14.44 14.33 13.31
21691 258.6 7.8 1038 21697 roll 0.58 - - 2401 - 2.53 0.085 3598 543.9 173.5 2.10 0.312 2031 - - - - - - - - 14.85 14.41 13.19
21774 251.3 8.5 1050 21780 done 0.58 - - 2408 - 2.45 0.053 2187 -575.9 173.5 1.80 0.189 2030 - - - - - - - - 14.51 14.39 14.22
22132 223.6 7.8 1059 22137 roll 0.58 - - 2418 - 2.60 0.065 764 -547.3 173.5 1.75 0.188 2029 - - - - - - - - 14.85 14.35 14.15
22181 219.8 7.7 1066 22187 done 0.58 0.12 0.242 2389 -241.7 2.62 0.057 2227 558.4 173.5 - - 2038 - - - - - - - - 14.12 14.36 14.35
22517 197.3 6.6 1079 22550 roll 0.59 - - 2389 - 2.47 0.086 3590 551.8 189.8 26.65 1.200 1956 -3.1 0.100 - - - - - - 14.83 14.46 13.79
22629 188.6 8.5 1095 22634 done 0.59 - - 2393 - 2.38 0.052 2219 -576.1 189.8 - - 1949 - - - - - - - - 14.42 14.34 14.46
22965 160.7 8.4 1108 22969 roll 0.59 - - 2403 - 2.60 0.069 779 -553.8 189.8 - - 1948 - - - - - - - - 14.80 14.31 14.81
23014 156.9 7.7 1115 23020 done 0.64 - - 2404 - 2.60 0.057 2231 558.5 189.8 - - 1946 - - - - - - - - 14.46 14.35 14.51
23357 130.6 7.7 1122 23361 roll 0.64 - - 2404 - 2.45 0.083 3585 552.7 189.8 - - 1947 - - - - - - - - 14.81 14.28 14.83
23433 123.6 9.1 1133 23439 done 0.64 - - 2411 - 2.40 0.049 2225 -566.7 189.8 - - 1947 - - - - - - - - 14.40 14.35 14.45
23750 98.0 8.0 1143 23755 roll 0.64 - - 2411 - 2.50 0.081 3586 544.4 189.8 - - 1947 - - - - - - - - 14.82 14.28 14.83
23818 92.0 8.7 1153 23824 done 0.64 - - 2418 - 2.38 0.048 2236 -567.2 189.8 - - 1947 - - - - - - - - 14.40 14.36 14.45
24141 69.5 6.6 1166 24154 roll 0.65 - - 2424 - 2.65 0.067 776 -550.9 208.1 9.00 0.304 1891 -6.2 0.280 - - - - - - 14.83 14.45 14.04
24250 64.6 4.4 1181 24302 done 0.79 - - 2425 - 2.62 0.054 2240 558.8 278.7 46.90 0.327 1602 -6.2 0.240 - - - - - - 14.49 14.38 14.14
24613 49.3 3.8 1200 24673 roll 0.98 0.25 0.091 2535 440.0 2.45 0.079 3586 549.4 362.9 55.15 0.280 1258 -6.2 0.216 - - - - - - 14.40 14.38 14.15
24743 39.9 8.7 1219 24748 done 0.98 - - 2544 - 2.33 0.047 2235 -579.8 362.9 - - 1261 - - - - - - - - 14.49 14.41 14.52
25080 18.6 5.7 1234 25112 roll 1.06 - - 2546 - 2.65 0.064 773 -551.7 402.3 25.38 0.184 1099 -6.4 0.127 - - - - - - 14.78 14.35 14.22
25224 9.8 6.5 1254 25247 done 1.18 0.10 0.145 2598 520.0 2.60 0.051 2250 568.1 421.1 12.88 0.159 1020 -6.1 0.074 - - - - - - 14.31 14.33 14.21
25328 end climb: SURFACE_DEPTH_REACHED
25328 begin surface coast
25356 end surface coast: CONTROL_FINISHED_OK
25356 begin surface
SM 0.78 - - - - -6.14 6.97 0.082 219 31.4 - - 2250 - 500.17 50.15 0.134 700 14.0 -0.008 - - - - - -